Robot-mounted retractor system
Inventors
Troxell, Paden • Berkowitz, Andrew • Cascarano, James • Cicchini, Stephen
Assignees
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Publication Number
US-12465344-B2
Publication Date
2025-11-11
Expiration Date
Abstract
A retractor mounting assembly including an end-effector having a body extending between first and second faces. The first face is configured for attachment to an interface plate on the robotic arm of a surgical robot. The second face defines an arm mount. An arm extending between first and second ends with the first end configured for attachment to the end-effector arm mount and the second end providing a retractor mount configured for supportive attachment of a retractor.
Core Innovation
The invention relates to a surgical robot that includes a retractor mounting assembly for minimally invasive spine surgery. The robot includes a mounting plate at a distal end of the robot arm, and a first end-effector having a clamp adapted to secure a plurality of surgical tools. A second end-effector of the retractor mounting assembly is configured to attach to the mounting plate and defines an arm mount.
An articulating arm is provided with a first arm and a second arm, where a distal end of the first arm and a proximal end of the second arm are pivotally connected via an adjustment screw. The proximal end of the first arm connects to the arm mount of the end-effector. The distal end of the second arm includes a mounting member comprising a slot configured to receive a ball of a retractor mounting component configured to engage a retractor.
The assembly also includes a lockout device configured to reduce inadvertent movement of the robotic arm. The lockout device is positioned within a hollow chamber of a mounting post such that a surface end cap of the lockout device is flush with the end of the mounting post. A lockout actuator is configured to actuate the lockout device, and the document describes a wireless power transfer coil and a flush-mounted actuator end cap within a hollow mounting post to maintain sterile integrity.
Claims Coverage
Independent claim clm-00001 covers a surgical robot with a retractor mounting assembly that combines a clampable multi-tool first end-effector, an articulating retractor-mounting second end-effector with a pivotally connected adjustment-screw articulation, a ball-and-slot retractor mounting component engagement, and a lockout device integrated in a hollow mounting post with a flush end cap actuated by a lockout actuator.
Robot with mounting plate and first end-effector clamp
A surgical robot including a robot base and a robot arm coupled to the robot base and having a mounting plate at a distal end of the robot arm; and a first end-effector having a clamp for mounting to the mounting plate and adapted to secure a plurality of surgical tools.
Second end-effector defining an arm mount
A retractor mounting assembly comprising a second end-effector having a body extending between first and second faces, the first face configured to attach to the same mounting plate of the robot arm as the first end-effector and the second face defining an arm mount.
Articulating arm pivotally connected via adjustment screw and ball-slot retractor engagement
An articulating arm comprising a first arm and a second arm, wherein a distal end of the first arm and a proximal end of the second arm are pivotally connected via an adjustment screw, a proximal end of the first arm is configured to connect to the arm mount of the end-effector, and a distal end of the second arm comprises a mounting member comprising a slot configured to receive a ball of a retractor mounting component configured to engage a retractor.
Lockout device in hollow chamber with flush surface end cap and lockout actuator
A lockout device configured to reduce inadvertent movement of the robotic arm, the lockout device positioned within a hollow chamber of a mounting post such that a surface end cap of the lockout device is flush with the end of the mounting post; and a lockout actuator configured to actuate the lockout device.
The claim coverage centers on integrating a retractor mounting assembly into a surgical robot by using a second end-effector that attaches to the robot arm mounting plate, an adjustment-screw-pivot articulating arm that interfaces to a retractor mounting component via a ball-and-slot engagement, and a lockout device located in a hollow mounting post with a flush end cap actuated to reduce inadvertent robotic arm movement.
Stated Advantages
Reduce inadvertent movement of the robotic arm.
Maintain sterile integrity of the mounting post and lockout device by using a flush end cap.
Documented Applications
Use in creating a surgical port and implanting an intervertebral implant with robot guidance in minimally invasive spine surgery.
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